Derivation of All Attitude Error Governing Equations for Attitude Filtering and Control.
Ahmad Bani Younes1, Daniele Mortari2
1Aerospace Engineering, San Diego State University, 5500 Campanile Drive, San Diego, CA 92182-1308, USA. abaniyounes@sdsu.edu.
Sensors (Basel, Switzerland)
|October 31, 2019
Summary
This study derives attitude error kinematics equations for accurate orientation estimation. The new models are valid for large rotations and benefit nonlinear attitude estimation and control systems.
Area of Science:
- Aerospace Engineering
- Robotics
- Control Systems
Background:
- Accurate attitude estimation is crucial for autonomous systems.
- Existing kinematic models may not cover large rotations or specific reference frames.
Purpose of the Study:
- To derive comprehensive attitude error kinematics equations.
- To provide closed-form expressions for various attitude error representations.
- To develop models applicable to both simulation and real-time applications.
Main Methods:
- Developed two distinct approaches for attitude error kinematics.
- Derived nonlinear kinematic models valid for large rotations and rates.
- Obtained compact, closed-form expressions for attitude error representations.
Main Results:
- Presented full analytical derivations of attitude error kinematics.
- Introduced models suitable for true attitude known (simulation) and estimated attitude (real-time) scenarios.
- Derived nonlinear models applicable to arbitrarily large rotations and rotation rates.
Conclusions:
- The derived error kinematic models offer broad utility for nonlinear attitude estimation and control.
- These models enhance the performance of filtering formulations in aerospace and robotics.
- The closed-form expressions simplify implementation and analysis in attitude determination systems.
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